{"id":"https://openalex.org/W2878998870","doi":"https://doi.org/10.1109/robosoft.2018.8404907","title":"Exoskeleton inflatable robotic arm with thin McKibben muscle","display_name":"Exoskeleton inflatable robotic arm with thin McKibben muscle","publication_year":2018,"publication_date":"2018-04-01","ids":{"openalex":"https://openalex.org/W2878998870","doi":"https://doi.org/10.1109/robosoft.2018.8404907","mag":"2878998870"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft.2018.8404907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2018.8404907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035157400","display_name":"Shunichi Kurumaya","orcid":"https://orcid.org/0000-0002-3417-7184"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kurumaya","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Nabae","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. Endo","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052210424","display_name":"Koichi Suzumori","orcid":"https://orcid.org/0000-0002-5735-4956"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Suzumori","raw_affiliation_strings":["Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"120","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inflatable","display_name":"Inflatable","score":0.9086072444915771},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.6990058422088623},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5135936737060547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49930644035339355},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4431264102458954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27925366163253784},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.25635063648223877},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.23530548810958862},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22276848554611206},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17109084129333496}],"concepts":[{"id":"https://openalex.org/C66098623","wikidata":"https://www.wikidata.org/wiki/Q2162595","display_name":"Inflatable","level":2,"score":0.9086072444915771},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.6990058422088623},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5135936737060547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49930644035339355},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4431264102458954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27925366163253784},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.25635063648223877},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.23530548810958862},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22276848554611206},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17109084129333496}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft.2018.8404907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft.2018.8404907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W211888945","https://openalex.org/W1515749184","https://openalex.org/W1962898515","https://openalex.org/W1975908899","https://openalex.org/W1992859618","https://openalex.org/W2043144176","https://openalex.org/W2073142361","https://openalex.org/W2116820576","https://openalex.org/W2123709438","https://openalex.org/W2127966735","https://openalex.org/W2136901311","https://openalex.org/W2155502425","https://openalex.org/W2164882912","https://openalex.org/W2576601164","https://openalex.org/W2611367167","https://openalex.org/W2737491236","https://openalex.org/W2774368103","https://openalex.org/W6608631664"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2136901311","https://openalex.org/W4317435135","https://openalex.org/W2788946470","https://openalex.org/W1554139824","https://openalex.org/W2753822333","https://openalex.org/W3112576735","https://openalex.org/W181922973","https://openalex.org/W2742683188","https://openalex.org/W211888945"],"abstract_inverted_index":{"To":[0],"realize":[1],"an":[2,6],"extremely":[3],"safe":[4,57],"robot,":[5],"exoskeleton":[7,72],"inflatable":[8,73],"robotic":[9,52,74],"arm":[10,55,75,105],"with":[11,128],"thin":[12],"McKibben":[13,34],"muscles":[14],"and":[15,29,42,58,69,86,88,90,110],"simple":[16],"driving":[17],"systems":[18],"installed":[19],"inside":[20],"the":[21,83,101,103],"arm,":[22],"except":[23],"for":[24,49,60,82],"air-supply":[25],"devices,":[26],"was":[27,76,117],"designed":[28],"manufactured":[30],"using":[31,125],"soft":[32,51],"materials.":[33],"muscles,":[35],"which":[36],"are":[37,47],"considerably":[38],"thin,":[39],"lightweight,":[40],"flexible,":[41],"can":[43,122],"be":[44,123],"mass":[45],"produced,":[46],"suitable":[48],"this":[50],"mechanism.":[53],"The":[54,71],"is":[56],"useful":[59],"human-friendly":[61],"robots":[62],"owing":[63],"to":[64],"its":[65],"softness,":[66],"low":[67],"weight,":[68],"compliance.":[70],"modeled,":[77],"theoretical":[78,89,126],"equations":[79],"were":[80,98],"derived":[81],"joint":[84],"angle":[85],"torque,":[87],"experimental":[91,120],"results":[92],"obtained":[93],"at":[94,108],"various":[95],"structural":[96],"stiffness":[97],"compared.":[99],"In":[100],"experiments,":[102],"developed":[104],"could":[106],"bend":[107],"90\u00b0":[109],"91\u00b0":[111],"on":[112],"each":[113],"side.":[114],"Furthermore,":[115],"it":[116],"proposed":[118],"that":[119],"values":[121],"estimated":[124],"expressions":[127],"correction":[129],"factors.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}